From 554c4baf249f68bb8f716af97cbf23daad73ef5c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 6 May 2011 23:44:36 +0200 Subject: digital/io-hub: add contacts --- digital/io-hub/src/common/contact.avr.c | 98 +++++++++++++++++++++++++++++++++ 1 file changed, 98 insertions(+) create mode 100644 digital/io-hub/src/common/contact.avr.c (limited to 'digital/io-hub/src/common/contact.avr.c') diff --git a/digital/io-hub/src/common/contact.avr.c b/digital/io-hub/src/common/contact.avr.c new file mode 100644 index 00000000..9f6869b4 --- /dev/null +++ b/digital/io-hub/src/common/contact.avr.c @@ -0,0 +1,98 @@ +/* contact.avr.c */ +/* robospierre - Eurobot 2011 AI. {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "contact.h" + +/** Filter depth. */ +#define CONTACT_JACK_FILTER_DEPTH 50 + +/** Contact context. */ +struct contact_t +{ + /** Jack current state. */ + uint8_t jack_state; + /** Jack filter, number of updates before state can change. */ + uint8_t jack_filter; +}; + +/** Global context. */ +struct contact_t contact_global; +#define ctx contact_global + +void +contact_init (void) +{ + /* Pull-up. */ +#define CONTACT(io) IO_SET_ (io); + CONTACT (CONTACT_COLOR); + CONTACT (CONTACT_JACK); + CONTACT_LIST +#undef CONTACT + /* Default to jack out. */ + ctx.jack_state = 1; +} + +void +contact_update (void) +{ + uint8_t jack_now = IO_GET (CONTACT_JACK); + /* If state is unchanged, reset filter. */ + if (jack_now == ctx.jack_state) + ctx.jack_filter = 0; + /* If state changed, should be stable for CONTACT_JACK_FILTER_DEPTH before + * it goes through the filter. */ + else if (ctx.jack_filter++ == CONTACT_JACK_FILTER_DEPTH) + { + ctx.jack_state = jack_now; + ctx.jack_filter = 0; + } +} + +enum team_color_e +contact_get_color (void) +{ + return !IO_GET (CONTACT_COLOR) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT; +} + +uint8_t +contact_get_jack (void) +{ + return ctx.jack_state; +} + +uint32_t +contact_all (void) +{ + uint32_t contacts = 0, bit = 1; +#define CONTACT(io) do { \ + contacts |= (IO_GET_ (io) ? bit : 0); \ + bit <<= 1; \ +} while (0); + CONTACT (CONTACT_COLOR); + CONTACT (CONTACT_JACK); + CONTACT_LIST +#undef CONTACT + return contacts; +} -- cgit v1.2.3